To study the characteristics of the 5-prismatic–spherical–spherical(PSS)/universal–prismatic–universal(UPU)parallel mechanism with elastically active branched chains,the dynamics modeling and solutions of the para...To study the characteristics of the 5-prismatic–spherical–spherical(PSS)/universal–prismatic–universal(UPU)parallel mechanism with elastically active branched chains,the dynamics modeling and solutions of the parallel mechanism were investigated.First,the active branched chains and screw sliders were considered as spatial beam elements and plane beam element models,respectively,and the dynamic equations of each element model were derived using the Lagrange method.Second,the equations of the 5-PSS/UPU parallel mechanism were obtained according to the kinematic coupling relationship between the active branched chains and moving platform.Finally,based on the parallel mechanism dynamic equations,the natural frequency distribution of the 5-PSS/UPU parallel mechanism in the working space and elastic displacement of the moving platform were obtained.The results show that the natural frequency of the 5-PSS/UPU parallel mechanism under a given motion situation is greater than its operating frequency.The maximum position error is -0.096 mm in direction Y,and the maximum orientation error is -0.29°around the X-axis.The study provides important information for analyzing the dynamic performance,dynamic optimization design,and dynamic control of the 5-PSS/UPU parallel mechanism with elastically active branched chains.展开更多
A motor-driven linkage system with links fabricated from 3-dimensional braided composite materials was studied. A group of coupling dynamic equations of the system, including composite materials parameters, electromag...A motor-driven linkage system with links fabricated from 3-dimensional braided composite materials was studied. A group of coupling dynamic equations of the system, including composite materials parameters, electromagnetism parameters of the motor and structural parameters of the link mechanism, were established by finite element method. Based on the air-gap field of non-uniform airspace of three-phase alternating current motor caused by the vibration eccentricity of rotor, the relation of electromechanical coupling at the actual running state was analyzed. And the motor element, which defines the transverse vibration and torsional vibration of the motor as its nodal displacement, was established. Then, based on the damping element model and the expression of energy dissipation of the 3-dimentional braided composite materials, the damping matrix of the system was established by calculating each order modal damping of the mechanism.展开更多
Recently novel mechanisms with compact size and without many mechanical elements such as bearing are strongly required for medical devices such as surgical operation devices. This paper describes analysis and synthesi...Recently novel mechanisms with compact size and without many mechanical elements such as bearing are strongly required for medical devices such as surgical operation devices. This paper describes analysis and synthesis of elastic link mechanisms of a single spring beam which can be manufactured by NC coiling machines. These mechanisms are expected as disposable micro forceps. Smooth Curvature Model（SCM） with 3rd order Legendre polynomial curvature functions is applied to calculate large deformation of a curved cantilever beam by taking account of the balance between external and internal elastic forces and moments. SCM is then extended to analyze large deformation of a closed-loop curved elastic beam which is composed of multiple free curved beams. A closed-loop elastic link is divided into two free curved cantilever beams each of which is assumed as serially connected free curved cantilever beams described with SCM. The sets of coefficients of Legendre polynomials of SCM in all free curved cantilever beams are determined by taking account of the force and moment balance at connecting point where external input force is applied. The sets of coefficients of Legendre polynomials of a nonleaded closed-loop elastic link are optimized to design a link mechanism which can generate specified output motion due to input force applied at the assumed dividing point. For example, two planar micro grippers with a single pulling input force are analyzed and designed. The elastic deformation analyzed with proposed method agrees very well with that calculated with FEM. The designed micro gripper can generate the desired pinching motion. The proposed method can contribute to design compact and simple elastic mechanisms without high calculation costs.展开更多
Cross-linked polystyrene/glass fiber composites were fabricated using cross-linked polystyrene （CLPS） as matrix and E-glass fiber as the reinforcement. Surfaces of E-glass fibers were modified by vinyl triethoxysila...Cross-linked polystyrene/glass fiber composites were fabricated using cross-linked polystyrene （CLPS） as matrix and E-glass fiber as the reinforcement. Surfaces of E-glass fibers were modified by vinyl triethoxysilane （VTES）, vinyl trimethoxysilane （VTMS） and γ-methacryloylpropyl trimethoxysilane （MPS）. The treated glass fibers were analyzed by fourier transform infrared spectroscopy （FTIR）. Dynamic mechanical thermal analysis （DMTA） and thermo-gravimetric analysis （TGA） were employed to investigate the effect of glass fibers surface modification on viscoelastic behavior and thermal properties. The morphology of fracture surfaces of various composites was observed by scanning electron microscopy （SEM）. The results revealed that these coupling agents were connected to the surfaces of the fibers by chemical bonding. Dynamic mechanical properties as well as thermal stability of the composites were improved considerablely, but to varying degrees depending on the fiber modification. The diversities of improvement of properties were attributed to the different interfacial adhesion between CLPS matrix and the glass fibers.展开更多
This paper relates to the deep research on the Splinc Model Method of KED analysis. With the use of cubic B-splinc function as a link’s transverse deflection interpolation function, the principle of virtual displacem...This paper relates to the deep research on the Splinc Model Method of KED analysis. With the use of cubic B-splinc function as a link’s transverse deflection interpolation function, the principle of virtual displacement is presented as a basic theory for the general formulation of the equations of motion, and thus abandoned the kinematic assumption and the instantaneous structure assumption which arc used in the Spline Model Method. In thc same time, the nonlinear terms sue as coupling terms between thc rigid body motion and elastic deformation arc included. New member’s spline models are established. Mass matrix, Coriolis mass matrix, normal and tangential mass matrix, linear stiffness matrix, nonlinear stiffness matrix and rotation matrix arc derived. The kinematic differential equations of a member and system are deduced in the end. The Newmark direct integration method is used as the solution scheme of the kinematic differential equations to get the periodic response.展开更多
基金Supported by Zhejiang Provincial Natural Science Foundation of China (Grant No. LR18E050003)National Natural Science Foundation of China (Grant Nos. 51975523,51905481)+1 种基金Postdoctoral Preferred Funding Project of Zhejiang Province (Grant No. zj2019019)Open Foundation of the Key Laboratory of E&M,Ministry of Education&Zhejiang Province (Grant No. EM2019120102)
文摘To study the characteristics of the 5-prismatic–spherical–spherical(PSS)/universal–prismatic–universal(UPU)parallel mechanism with elastically active branched chains,the dynamics modeling and solutions of the parallel mechanism were investigated.First,the active branched chains and screw sliders were considered as spatial beam elements and plane beam element models,respectively,and the dynamic equations of each element model were derived using the Lagrange method.Second,the equations of the 5-PSS/UPU parallel mechanism were obtained according to the kinematic coupling relationship between the active branched chains and moving platform.Finally,based on the parallel mechanism dynamic equations,the natural frequency distribution of the 5-PSS/UPU parallel mechanism in the working space and elastic displacement of the moving platform were obtained.The results show that the natural frequency of the 5-PSS/UPU parallel mechanism under a given motion situation is greater than its operating frequency.The maximum position error is -0.096 mm in direction Y,and the maximum orientation error is -0.29°around the X-axis.The study provides important information for analyzing the dynamic performance,dynamic optimization design,and dynamic control of the 5-PSS/UPU parallel mechanism with elastically active branched chains.
基金Project(50175031) supported by the National Natural Science Foundation of China
文摘A motor-driven linkage system with links fabricated from 3-dimensional braided composite materials was studied. A group of coupling dynamic equations of the system, including composite materials parameters, electromagnetism parameters of the motor and structural parameters of the link mechanism, were established by finite element method. Based on the air-gap field of non-uniform airspace of three-phase alternating current motor caused by the vibration eccentricity of rotor, the relation of electromechanical coupling at the actual running state was analyzed. And the motor element, which defines the transverse vibration and torsional vibration of the motor as its nodal displacement, was established. Then, based on the damping element model and the expression of energy dissipation of the 3-dimentional braided composite materials, the damping matrix of the system was established by calculating each order modal damping of the mechanism.
文摘Recently novel mechanisms with compact size and without many mechanical elements such as bearing are strongly required for medical devices such as surgical operation devices. This paper describes analysis and synthesis of elastic link mechanisms of a single spring beam which can be manufactured by NC coiling machines. These mechanisms are expected as disposable micro forceps. Smooth Curvature Model（SCM） with 3rd order Legendre polynomial curvature functions is applied to calculate large deformation of a curved cantilever beam by taking account of the balance between external and internal elastic forces and moments. SCM is then extended to analyze large deformation of a closed-loop curved elastic beam which is composed of multiple free curved beams. A closed-loop elastic link is divided into two free curved cantilever beams each of which is assumed as serially connected free curved cantilever beams described with SCM. The sets of coefficients of Legendre polynomials of SCM in all free curved cantilever beams are determined by taking account of the force and moment balance at connecting point where external input force is applied. The sets of coefficients of Legendre polynomials of a nonleaded closed-loop elastic link are optimized to design a link mechanism which can generate specified output motion due to input force applied at the assumed dividing point. For example, two planar micro grippers with a single pulling input force are analyzed and designed. The elastic deformation analyzed with proposed method agrees very well with that calculated with FEM. The designed micro gripper can generate the desired pinching motion. The proposed method can contribute to design compact and simple elastic mechanisms without high calculation costs.
基金Supported by National Natural Science Foundation of China (No.50872101,A3 Foresight Program-50821140308)National Basic Research Program of China (No.2009CB939704)a joint project of National Nature Science Foundation of China and Russian Foundation for Basic Research(No.NSFC-RFBR 51011120252)
文摘Cross-linked polystyrene/glass fiber composites were fabricated using cross-linked polystyrene （CLPS） as matrix and E-glass fiber as the reinforcement. Surfaces of E-glass fibers were modified by vinyl triethoxysilane （VTES）, vinyl trimethoxysilane （VTMS） and γ-methacryloylpropyl trimethoxysilane （MPS）. The treated glass fibers were analyzed by fourier transform infrared spectroscopy （FTIR）. Dynamic mechanical thermal analysis （DMTA） and thermo-gravimetric analysis （TGA） were employed to investigate the effect of glass fibers surface modification on viscoelastic behavior and thermal properties. The morphology of fracture surfaces of various composites was observed by scanning electron microscopy （SEM）. The results revealed that these coupling agents were connected to the surfaces of the fibers by chemical bonding. Dynamic mechanical properties as well as thermal stability of the composites were improved considerablely, but to varying degrees depending on the fiber modification. The diversities of improvement of properties were attributed to the different interfacial adhesion between CLPS matrix and the glass fibers.
文摘This paper relates to the deep research on the Splinc Model Method of KED analysis. With the use of cubic B-splinc function as a link’s transverse deflection interpolation function, the principle of virtual displacement is presented as a basic theory for the general formulation of the equations of motion, and thus abandoned the kinematic assumption and the instantaneous structure assumption which arc used in the Spline Model Method. In thc same time, the nonlinear terms sue as coupling terms between thc rigid body motion and elastic deformation arc included. New member’s spline models are established. Mass matrix, Coriolis mass matrix, normal and tangential mass matrix, linear stiffness matrix, nonlinear stiffness matrix and rotation matrix arc derived. The kinematic differential equations of a member and system are deduced in the end. The Newmark direct integration method is used as the solution scheme of the kinematic differential equations to get the periodic response.
